Position tracking system and method using radio signals and inertial sensing

ABSTRACT

An RF position tracking system for wirelessly tracking the three-dimensional position of a tracked object. The tracked object has at least one mobile antenna and at least one inertial sensor. The system uses a plurality of base antennas which communicate with the mobile antenna using radio signals. The tracked object also incorporates the inertial sensor to improve position stability by allowing the system to compare position data from radio signals to data provided by the inertial sensor.

RELATED APPLICATIONS

This application is a continuation-in-part of co-pending U.S.application Ser. No. 14/600,025, filed Jan. 20, 2015, titled “PositionTracking System and Methods Using Radio Signals and Inertial Sensing”,which is a continuation of U.S. application Ser. No. 13/293,639, filedNov. 10, 2011, titled “Position Tracking System and Methods Using RadioSignals and Inertial Sensing” now U.S. Pat. No. 8,957,812, which claimsthe benefit of and priority to U.S. provisional application No.61/413,026, filed on Nov. 12, 2010, titled “Position Tracking System andMethods Using Radio Signals and Inertial Sensing,” the entireties ofwhich applications are incorporated by reference herein.

FIELD OF THE INVENTION

The present disclosure relates generally to position tracking of mobiledevices. More particularly, the present disclosure relates to a positiontracking system and method using radio signals and inertial sensing.

BACKGROUND

In a Global Positioning System (GPS), satellites orbiting the earthtransmit signals to passive receivers on the ground. The receivers onlyreceive signals, but they do not transmit signals. One limitation of GPSreceivers is that they require an unobstructed view of the sky. As aresult, GPS receivers typically are better suited for outdoor use and inareas away from tall buildings or heavy tree cover. A further limitationof GPS location devices is their dependence on an accurate external timereference.

In a GPS system, each of many GPS satellite transmits a signal thatincludes data to indicate the satellite's location and current time. GPSsystems use two carrier frequencies (L1 and L2) for transmittinginformation, including satellite location, ionospheric propagationdelays, offsets between satellite clock time and true GPS time.Additionally, GPS measurements are determined from pseudoranges, whichare range measurements biased by receiver and satellite clock errors.The GPS satellites are all synchronized to transmit repeating signals atthe same time. Because each satellite is located at a different distancefrom a receiver on the ground, transmitted signals arrive at the GPSreceiver at slightly different times. The receiver uses the differentreceipt times for various signals to calculate the receiver's locationin three dimensions.

U.S. Pat. Nos. 5,953,683; 7,143,004; and 7,533,569 describe sourcelessorientation sensors. For example, U.S. Pat. No. 7,533,569 discloses amethod of measuring positional changes of an object by using multipleaccelerometers. U.S. Pat. No. 7,236,091 describes a hybrid RF/inertialposition tracking system having a “wide resolution” mode for generalposition tracking, and a “high-resolution” mode that employs kinematicmodels. In this system, the high-resolution position accuracy isconsidered to be within the order of meters. U.S. Pat. Nos. 7,409,290;6,167,347; 6,292,750; 6,417,802; 6,496,778; 5,923,286; 6,630,904;6,721,657; 7,193,559; and 6,697,736 describe GPS-aided positioning andnavigation methods. For example, U.S. Pat. No. 7,409,290 altitude andheading information are used to aid the GPS positioning when satellitesignals are not available.

Unlike GPS, where transmission time is measured from a satellite to amobile device or receiver, high-accuracy systems that track mobiledevices in three dimensional space measure the time that a signalarrives from the mobile device to a system's connected (either wired orwireless) antennae. These systems do not have the bias errors that GPShas. These time-based, high-accuracy RF positioning systems that usenetworked antennae for comparing signal time of arrival or difference ofarrival measurements consist of receiver hardware having multiplereceiver antennae and transmitter hardware having one or moretransmitter antennae. To track a single transmitter or transmitterantenna in three dimensions, at least four receiver antennae arerequired. Similarly, for tracking in two dimensions, at least threereceiver antennae are required.

Also unlike GPS, where the tracking calculation is performed in themobile device, the RF system's receiver antennae provide the referenceframe in which the mobile antennae are tracked. More receiver antennaeprovide better coverage and more accuracy, but do so with increasedcomplexity and cost. The receiver antennae must be distinct, fixed, andhave a known location in space. More transmitter antennae attached to orembedded in a tracked object allow the object's orientation to becalculated based on geometric principles. For example, two transmitterantennae, separated by a distance D, yield a pointer, since the twotransmitter antennae form a line with known direction. Three transmitterantennae provide enough information to calculate three dimensionalposition and orientation. The system can be reversed, with the receiverantennae being tracked and the transmitter antennae providing thereference frame.

The major source of error in RF positioning systems is signalpropagation errors, such as multipath. While many methods have attemptedto mitigate this problem (antennae diversity, spread spectrum), signalpropagation errors are very difficult to totally eliminate. A sourcelessnavigation system does not have these issues, but does have its own setof problems. Sourceless navigation systems are typically based oninertial sensors, which can consist of accelerometers and gyroscopes, aswell as magnetic sensors. The use of small inertial sensors, likegyroscopes and accelerometers, has become commonplace in positiontracking. Inertial sensors overcome problems like line-of-sightrestrictions that plague tracking systems. Unfortunately, commercial,low-cost devices have drift, bias and scale factor errors andorientation motion and positional motion need to be algorithmicallyseparated.

A positioning solution is obtained by numerically solving Newton'sequations of motion using measurements of forces and rotation ratesobtained from the inertial sensors. The magnetic sensor helps to defineazimuth based on the earth's magnetic field. The accelerometer,gyroscope, and magnetic sensor, and various combinations thereof,together with the associated hardware and electronics comprise theinertial/magnetic devices subsystem (IMDS).

Angular orientation may be determined by integrating the output fromangular rate sensors. A relatively small offset error on the gyroscopesignal will introduce large integration errors. Accelerometers measurethe vector sum of acceleration of the sensor and the gravitationalacceleration (g). In most situations, g is dominant, thus providinginclination information that can be used to correct the driftedorientation estimate from gyroscopes. The principles for measuringorientation of a moving body segment fusing gyroscopes andaccelerometers in a Kalman filter have been described in H. J. Luinge,Inertial Sensing of Human Movement (Ph.D. Thesis, 2002), and isincorporated by reference herein in its entirety. The magnetic sensor issensitive to the earth's magnetic field and it gives information aboutthe heading direction in order to correct drift of the gyroscope aboutthe vertical axis. Methods for integrating these devices are describedin E. R. Bachman, Inertial and Magnetic Tracking of Limb SegmentOrientation for Inserting Humans into Synthetic Environments (Ph.D.Thesis 2000), and E. Foxlin, Inertial Head-Tracker Sensor Fusion by aComplementary Separate-Bias Kalman Filter Proc. of VRAIS '96, 185-94(1996), both incorporated in their entireties by reference herein.

These Kalman filter implementations use accelerometers and magneticsensors for low frequency components of the orientation and usegyroscopes to measure faster changes in orientation. Finally, anaccelerometer-only based position and orientation tracker is disclosedin “Design and Error Analysis of Accelerometer-Based Inertial NavigationSystems,” by Chin-Woo Tan Sungsu Park for the California Partners forAdvanced Transit and Highways (PATH).

Methods for integrating similar IMDS components with GPS, acoustic,optical and magnetic tracking systems are known in the art. Someexamples include “Robust Dynamic Orientation Sensing UsingAccelerometers: Model-based Methods for Head Tracking in AR”, by MatthewStuart Keir, “Accelerometer-based Orientation Sensing for Head Trackingin AR & Robotics,” by Matthew S. Keir, et al, “Using Gravity to EstimateAccelerometer Orientation,” by David Mizell, “Setting up the MMA 7660FCto do Orientation Detection,” Freescale Semiconductor AN3840, “3DOrientation Tracking Based on Unscented Kalman Filtering ofAccelerometer and Magnetometer Data,” Benoit Huyghea et al., “Inertialand Magnetic Sensing of Human Movement near Ferromagnetic Materials,”Daniel Roetenberg et al., “An Extended Kalman Filter forQuaternion-Based Orientation Estimation Using MARG Sensors,” Joao LuisMarins et al., “An Improved Quaternion-Based Filtering Algorithm forReal-Time Tracking of Human Limb Segment Motions using SourcelessSensors,” Eric Bachmann et al., and are incorporated by reference hereinin their entireties. In addition to these patents, the general methodsfor incorporating GPS and sourceless sensors are described in “TheGlobal Positioning System & Inertial Navigation,” by J. Farrell and M.Barth, (McGraw-Hill 1999); “Global Positioning Systems, InertialNavigation and Integration,” by M. Grewal, L. Weill, and A. Andrew,(John Wiley and Sons 2001); and “Introduction to Random Signals andApplied Kalman Filtering,” by R. Brown and P. Hwang (John Wiley & Sons1983). These references are also incorporated by reference in theirentireties.

SUMMARY

No examples exist of RF-based position tracking systems that useinertial devices in a tracked mobile device to increase stability of themobile device's RF signals received at the system's antennae. Therefore,what is needed is an RF position tracking system that tracks theposition of one or more wireless mobile devices in two or threedimensions, improves on the limitations of GPS systems, and effectivelyintegrates inertial sensing information in a combined system that allowsthe user to obtain a more stabilized and accurate position solution.

It is an object of the invention to provide a position tracking systemthat avoids the satellite and receiver clock errors of GPS systems.

It is also an object of the invention to provide a position trackingsystem capable of tracking the location of a transmitter in two or threedimensions.

It is also an object of the invention to provide a system that reducesthe signal propagation errors of RF position tracking systems.

It is also an object of the invention to provide a system that reducesthe drift, bias, and scale factor errors of sourceless navigationsystems.

It is also an object of the invention to integrate an inertial/magneticsubsystem (IMDS) in a mobile device to better perform tracking byincreasing stability of the system's received RF signals.

It is also an object of the invention to integrate an RF positioningsystem with an inertial/magnetic devices subsystem (IMDS) to providelong-term position stability and accuracy, even when the RF positioningsystem experiences temporary loss of signal.

It is also an object of the invention to use Kalman filterimplementations in a RF system having accelerometers, magnetic sensors,and/or gyroscopes to measure faster changes in orientation.

It is also an object of the invention to use inertial sensors to reducebattery consumption allowing the device to transmit its radio signalonly when it is moving.

It is also an object of the invention to use inertial sensors forconstant tracking between the device and the system to maintain absoluteposition monitoring.

The present invention relates to RF position tracking system thattracks, in two or three dimensions, one or more wireless mobiledevice(s). The disclosure features utilizing an inertial/magneticsubsystem (IMDS) integrated in the mobile device to better performtracking by adding stability to the system's RF signals received at thesystem's receiver(s). As RF signals from the mobile device are receivedat the system receiver, inertial information is also received that helpsthe system screen interference and multipath by weighting the RF data tobest match the inertial data provided by the IMDS. The combined systemallows a user to obtain a more stabilized/accurate position solution.

One embodiment of the invention is a system for wirelessly tracking thephysical position of an object. The system has at least one radiofrequency (RF) device having an antenna and at least one inertialsensor. The RF device is configured to emit a radio signal. The systemhas at least three receiver antennae that are each configured to receivea radio signal emitted by the device and transmit that signal to areceiver. The system also has a receiver in communication with the threeor more receiver antennae. The receiver is configured to receive theradio signal from each receiver antenna and is further configured tocommunicate data to a data processor. Another embodiment comprises apositioning and/or navigation method and system thereof, in which theacceleration and/or velocity and/or position and/or heading from aninertial/magnetic navigation subsystem is/are used to supplement thecarrier phase tracking of the RF positioning system signals, so as toenhance the performance of the RF positioning system during signalcorruption or loss.

In another embodiment, a positioning and navigation system receives theacceleration, velocity, position, and/or heading measurements from aninertial/magnetic navigation subsystem. The inertial sensormeasurement(s) is/are fused in a Kalman filter to supplement the carrierphase tracking of the RF positioning system signals, so as to enhancethe performance of the RF positioning system during signal corruption orloss.

In another embodiment, the present invention provides an automatic powerup/power down method that relies on the inertial/magnetic devicessubsystem (IMDS). When the IMDS has detected no motion for a period oftime, the RF positioning system is powered to a low power state. Whenmotion resumes, the RF positioning system is returned to a full powerstate. In this way extended battery life may be achieved.

A method of tracking an object having an inertial sensor and capable oftransmitting an RF signal includes each one of at least three antennaereceiving an RF signal transmitted from an object to be tracked. Theantennae receive an inertial signal from an inertial sensor integratedinto or fixed onto the object. The system processes the RF signal andthe inertial signal to determine the position of the object.

Additional advantages and novel features will be set forth in part inthe description which follows, and in part will become apparent to thoseskilled in the art upon examination of the following and theaccompanying drawings or may be learned by production or operation ofthe examples. The advantages of the present teachings may be realizedand attained by practice or use of various aspects of the methodologies,instrumentalities and combinations set forth in the detailed examplesdiscussed below.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawing figures depict one or more implementations in accord withthe present teachings, by way of example only, not by way of limitation.In the figures, like reference numerals refer to the same or similarelements.

FIG. 1 is a block diagram illustrating an embodiment of a positioningand navigation system in which RF-based positioning system measurementsand an inertial devices subsystem measurement are blended.

FIG. 2 is a block diagram illustrating an embodiment of an RF trackingsystem compatible with the positioning and navigation system of FIG. 1,in which RF signal measurements are used to determine the position of aset of transmitter antennae with respect to a set of receiving antennae.

FIG. 3 is a block diagram showing an embodiment of a positioning andnavigation system having a RF position-aided IMDS design.

FIG. 4 is a block diagram showing an embodiment of a positioning andnavigation system having a RF range-aided IMDS design.

FIG. 5 is a block diagram showing another embodiment of a positioningand navigation system that implements feedback.

FIG. 6 is a block diagram showing an embodiment of a positioning andnavigation system that incorporates acceleration and velocity data in arange-aided or position-aided IMDS design.

FIGS. 7a and 7b are flow diagrams for alternate embodiments of a methodof tracking an object having an inertial sensor and capable oftransmitting an RF signal.

FIG. 8 is a block diagram illustrating the embodiment of a positioningand navigation system of FIG. 2 indicating where various functionalblocks are located.

FIG. 9 is a block diagram illustrating an embodiment of a positioningand navigation system of FIG. 1 indicating where various functionalblocks are located.

FIG. 10 is a block diagram illustrating another embodiment of an RFtracking system in which RF signal measurements are used to determinethe position of a set of transmitter antennae at a base with respect toa set of receiving antennae on the tracked object.

FIG. 11 is a block diagram illustrating an embodiment of a positioningand navigation system employing the RF tracking system of FIG. 10.

DETAILED DESCRIPTION

In the following detailed description, numerous specific details are setforth by way of examples in order to provide a thorough understanding ofthe relevant teachings. However, it should be apparent to those skilledin the art that the present teachings may be practiced without suchdetails. In other instances, well known methods, procedures, components,and/or circuitry have been described at a relatively high-level, withoutdetail, in order to avoid unnecessarily obscuring aspects of the presentteachings.

FIG. 1 illustrates one embodiment of a positioning and navigation system1. The positioning and navigation system 1 includes inertial/magneticdevices subsystem 10 (IMDS), an RF tracking system 20, a fusionalgorithm processor 30 and a corrected position and orientation outputinterface 40. The inertial/magnetic devices subsystem 10 (IMDS) mayinclude gyroscopes 11, and/or accelerometers 12 and/or magnetic sensors13, with their accompanying signal conditioning methods and algorithmsprocessor 14. INS algorithm block 14 may be based on Kalman filteringtechniques. The RF tracking system 20 comprises a set of RF receivingantennae 21, a set of RF transmitting antennae 22, RF system hardware23, a tracking processor 24, a fusion algorithm processor 30, and acorrected position and orientation output interface 40.

The gyroscope 11 may be based on fiber optics, ring lasers, vibratingmasses, micro-machined devices (MEMS technology), or other technology. Atypical three-axis MEMS-based gyroscope 11 is the Analog Devices ADIS16354, a high precision tri-axis inertial sensor. Multiple, single-axisgyroscopes could also be used.

The accelerometer 12 may be piezo-electric, capacitive, strain, optical,surface wave, micro-machined (MEMS technology) or one of the many othertypes of technologies used for measuring acceleration. A typicalthree-axis MEMS accelerometer 12 is the Analog Devices ADXL325, athree-axis analog accelerometer. The magnetic sensor (magnetometer) 13can be a Hall effect, GMR, moving coil, magneto resistive, SQUID, spindependent tunneling, proton precession, flux-gate, or other type oftechnology. An example of a three-axis magneto resistive magnetometer isthe Honeywell HMC1043 three-axis magnetic sensor.

Finally, IMDS subsystem 10 may also consist of a complete integratedsolution, as exemplified by the Razor IMU for Sparkfun Electronics, a 9degree-of-freedom system that incorporates three devices—an InvenSenseITG-3200 (triple-axis gyro), Analog Devices ADXL345 (triple-axisaccelerometer), and a Honeywell HMC5883L (triple-axis magnetometer). Theoutputs of all sensors 11, 12, 13 are processed by an on-board AtmelATmega328 RISC processor 14 and the navigation solution, which isrepresented by the corrected position and orientation block 40 is outputover a serial interface.

The RF tracking system 20 includes a set of RF receiving antennae 21, aset of RF transmitting antennae 22, RF system hardware 23 and a trackingprocessor 24. The RF receiving antennae 21 and the transmitter antennae22 can be a dipole, patch or other antennae appropriate for theparticular wavelength. Various combinations of antennae may also beused. The RF system hardware 23 includes RF components that areexplained more fully in the description of FIG. 2. The processed resultsfrom RF system hardware 23 are converted to a position and orientationsolution by tracking processor 24. Tracking processor 24 may include aDSP, embedded processor or other such processing system that runs analgorithm to compute the position and orientation from the processedresults.

As shown in FIG. 2, the RF tracking system 20 includes multiple receiverantennae 21, one or more transmitter antennae 22 and transmitterhardware, and RF system hardware 23. RF system hardware 23 may consistof amplifiers, limiters, filters, signal sources, demodulators,modulators, and other devices. These devices may be separate entities,may be embedded mathematically in a DSP or processor, or may be acombination of separate and embedded devices.

The transmitter section 50 consists of a sine wave 220 modulated with apseudo-random noise sequence 215 by CDMA modulator 210. This type ofmodulation may be of the type found in cell phones and othercommunication devices. The signal is amplified (not shown) and sent totransmitter antenna 22.

In the receiver section 60, the signal is received by the receiverantennae 21 and receiver reference antenna 101. Receiver antenna 101 isthe reference from which the time difference of arrival is measured. Thereceiver antennae receive the transmitted signal and forward thesesignals to the receiver circuitry 110 for demodulation using anotherpseudo-random noise (PN) sequence 115. PN sequence 115 may be identicalto PN sequence 215, although not synchronized to it in time (in otherwords, the starting points are not the same). This means that bothsequences contain the identical pseudo-random data, but that the data isread from different starting positions. CDMA demodulators 110 retrievethe transmitted sine wave from sine wave generator 220. Within thetracking processor 24, which may be a DSP (or microprocessor), therecovered reference sine wave is shifted by 90° so that when the othersignals are multiplied by it and then integrated, the reference sinewave provides a measure of phase shift between the reference and theother received signals (i.e., differential phase). The differentialphases are used by the position and orientation algorithm in thetracking processor 24 to determine position and orientation 121 of atracked object.

Tracking a single transmitter device or transmitter antenna in threedimensions requires at least four receiver antennae 21; tracking in twodimensions requires at least three receiver antennae 21. The receiverantennae 21 provide the reference frame in which the transmitterantennae are tracked. More receiver antennae 21 provide better coverageand more accuracy, but do so with increased complexity and cost. Thereceiver antennae 21 must be distinct and their respective locationsknown in space. More transmitter antennae 21 attached to or embedded ina tracked object allow the object's orientation to be calculated basedon geometric principles.

For example, two transmitter antennae 22, separated by a distance D,yield a pointer, since the two transmitter antennae 22 form a line withknown direction. Three transmitter antennae 22 provide enoughinformation to calculate a three-dimensional orientation. The system 1can be reversed, with the receiver antennae 21 being tracked and thetransmitter antennae 22 providing the reference frame. Recent art can befound in “Communication Systems Engineering,” by Proakis and Salehi, andis incorporated herein. Many variations possible to achieve the samefunctionality and many of the noted components can be part of anintegrated DSP. For example, a DSP might generate sine wave 220 and PNsequence 215. Discrete multipliers and integrators might be implementedin hardware instead of firmware.

The inertial/magnetic devices subsystem 10 (IMDS) provides inertial andmagnetic field measurements including body angular rates, specificforces, and information on the Earth's magnetic field direction whichare sent to the fusion algorithm processor 30 for minimizing RF trackingsystem errors during loss or corruption of RF signal. In one embodiment,the position and orientation of the transmitter antennae 22 arecalculated in RF algorithm block 24.

The position and orientation algorithm is based on solving theunderlying range equations. In this phase-based system, the phase isused to measure range. The operating wavelengths of the RF trackingsystem provide ambiguous phase measurements because phase measurementsare modulo a numbers. Without further information, only the fractionalpart of the phase can be determined, making the range incorrect.Equations (1)-(3) illustrate the phase to range measurementrelationship. ρ_(n) is the range, λ is the wavelength (for a fixedfrequency), Φn is the measured phase and kn is the integer portion ofthe phase. Methods exist to determine the additional integer number ofwavelengths corresponding to the actual range, but it should be notedthat problems due to multipath, line-of-sight issues, and other problemscan lead to loss of tracking.

$\begin{matrix}{\rho_{1} = {\lambda \left( {\frac{\Phi \; 1}{2\; \pi} + {k\; 1}} \right)}} & (1) \\{\rho_{2} = {\lambda \left( {\frac{\Phi \; 2}{2\; \pi} + {k\; 2}} \right)}} & (2) \\\ldots & \; \\{\rho_{n} = {\lambda \left( {\frac{\Phi \; n}{2\; \pi} + {kn}} \right)}} & (3)\end{matrix}$

One way to measure the phases is against a fixed reference phase. Bymeasuring the transmitter signal's phase differences recorded at tworeceiver antennae the distance is calculated. In the followingequations, values ρ1-ρ4 represent distances between the receiverantennae positions and the transmitter position and are determined bythe phases. Receiver positions are denoted asrcvr_pos_(receiver number,position coordinate), and are fixed, knownquantities. Position coordinate x_(1,2,3) represent x,y,z, respectively.

$\begin{matrix}{{p\; 1} = \sqrt{\left( {{rcvr\_ pos}_{1,1} - x_{1}} \right)^{2} + \left( {{rcvr\_ pos}_{1,2} - x_{2}} \right)^{2} + \left( {{rcvr\_ pos}_{1,3} - x_{3}} \right)^{2}}} & (4) \\{{p\; 2} = \sqrt{\left( {{rcvr\_ pos}_{2,1} - x_{1}} \right)^{2} + \left( {{rcvr\_ pos}_{2,2} - x_{2}} \right)^{2} + \left( {{rcvr\_ pos}_{2,3} - x_{3}} \right)^{2}}} & (5) \\{{p\; 3} = \sqrt{\left( {{rcvr\_ pos}_{3,1} - x_{1}} \right)^{2} + \left( {{rcvr\_ pos}_{3,2} - x_{2}} \right)^{2} + \left( {{rcvr\_ pos}_{3,3} - x_{3}} \right)^{2}}} & (6) \\{{p\; 4} = \sqrt{\left( {{rcvr\_ pos}_{4,1} - x_{1}} \right)^{2} + \left( {{rcvr\_ pos}_{4,2} - x_{2}} \right)^{2} + \left( {{rcvr\_ pos}_{4,3} - x_{3}} \right)^{2}}} & (7)\end{matrix}$

Phase differences such as formed from manipulating equations (4)-(7)into differences ρ4−ρ1, ρ3−ρ1, and ρ2−ρ1 provide the same informationfor determining position while allowing one of the received signals toact as a common reference.

These four equations are used to solve for x1, x2 and x3, in the RFalgorithm 24, which represents the x,y,z, position of the transmitter,respectively. This can be solved in a least squares algorithm, such asLevenberg-Marquardt or in a Kalman filter, as noted in the references.

There are many ways to combine the various data streams. According toGautier in “GPS/INS GENERALIZED EVALUATION TOOL (GIGET) FOR THE DESIGNANDTESTING OF INTEGRATED NAVIGATION SYSTEMS,” a loosely-coupled systemcalculates position using the RF solution only. The IMDS computesposition, velocity and attitude from the raw inertial sensormeasurements and uses the RF solution to fix the IMDS errors. A benefitof a loosely coupled system is that the RF system can be treated as a“black box.” In tightly coupled systems, the Kalman filter receivesphase measurements of range. Ultra-tightly coupled system utilizecontain feedback to the RF system itself. However, in “The GlobalPositioning system and Inertial Navigation,” by Farrell and Barth,loosely coupled is defined in a more general manner (reference section7.2.2 and accompanying figures) and allows for some feedback mechanismsto exist. The ultra-tightly coupled method of Gautier is equivalent toFarrell and Barth's version of tightly coupled. For this reason, andbecause it is more general, the definition of coupling will be based onFarrell and Barth's description in what follows.

Referring to FIGS. 3-6, the fusion algorithm processor 30 is shown as aseparate processor, which may again take the form of a DSP ormicroprocessor subsystem. Its job is to combine the inertial/magneticdevices subsystem 10 (IMDS) outputs with those of the RF tracking systemalgorithm 24 in what might be called an uncoupled form of fusion orunaided inertial solution. Methods of merging the data could requiread-hoc methods to prevent errors from becoming unbounded. Merging thesedata streams could be done in a Kalman filter. The Kalman filterprovides corrected position and orientation outputs 40 by combining thetwo outputs which could arrive at the fusion processor 30 at differentrates. It is also possible to combine algorithm processing 14, 30 and 24into a single processor for all the algorithms or to combine variousportions as necessary.

This x,y,z position solution from RF algorithm 24 is incorporated intothe fusion algorithm processor 30, which preferably includes alinearized or extended Kalman filter. The Kalman filter 33 is arecursive filter that estimates the state of a dynamic system. It iscommonly used in data fusion applications, among others. The Kalmanfilter 33 is used to combine, in an optimal manner, the RF trackingsystem 20 data with those of the IMDS subsystem 10. If the filter 33detects short term divergence of the RF and IMDS subsystem, it weightsthe final solution towards the IMDS information and supplies a correctedposition and orientation output 40.

FIG. 3 represents different approaches to the second embodiment of thesystem 1. When interface 36 is not included, the result is a linearizedKalman filtering approach. When it 36 is there, the result is anextended Kalman filter. Linearized Kalman filters are derived assuming alinearization was performed around the operating point of the filter.Extended Kalman filters utilize non-linear models. Both filters havepros and cons, such as implementation simplicity and speed ofprocessing.

In this second embodiment, the fusion of RF tracking and inertialtracking is performed in a loosely coupled manner. In loosely-coupledfusion, a link 36 sends the error signal from the Kalman filter 33 tothe inertial sensing processor 14 to modify the IMDS 10 output. Afeed-forward, complementary filter design, also known as a RF positionaided IMDS design, is shown in FIG. 3. Many of the main blocks werealready defined in FIG. 1. At the instant at which the GPS measurementis valid, the IMDS state is saved and used for comparison with the RFdata. By driving the Kalman filter 33 with the error between the RF dataand the IMDS data (output of block 31), it is valid to estimate thenavigation error state based on a linearized system model. Second, sincethe filter is designed based on an error model, all model parameters canbe properly defined in a stochastic sense. Third, the responsiveness ofthe navigation system is determined primarily by the update rate of theIMDS system 10 (assuming it has a faster update rate than the RF system)and the bandwidth of the inertial sensors 11, 12, 13. Fourth, becausethe Kalman filter 33 estimates slowly-varying error quantities, thesystem 1 can be a low-bandwidth system to attenuate any high-frequencyerror on the RF aiding signal. This error value is subtracted from theIMDS solution in block 32 to remove errors that occur over time in theIMDS system 10.

If link 36 is added, the INS algorithm 14 can be modified to take theerror signal generated by Kalman filter 33 and modify the IMDS 10 outputat the computation source. This can reduce offsets and biases that arecommon in inertial hardware 11, 12, and 13.

In a third embodiment shown in FIG. 4, the fusion of RF tracking andinertial tracking is performed in a loosely-coupled manner. As notedabove, loosely-coupled fusion is when link 36 sends the error signalfrom the Kalman filter 33 to the inertial sensing processor 14 to modifythe IMDS 10 output. An example of a feed-forward, complementary filterdesign, also known as a RF range-aided IMDS design, is shown in FIG. 4.Many of the main blocks were already defined in FIGS. 1 and 3. The RFalgorithm, however, is now incorporated into Kalman filter 33.Transformation block 35 takes the position solution from the IMDS system10 and converts it back into range data. Range error is determined inblock 31 by subtracting this ranged data from that obtained from RFpositioning system 23. This error range data output of block 31 is nowused by Kalman filter 33 to compute a position or position andorientation error solution, which in turn, is used to correct output 40via block 32. This embodiment also provides a means to correct phaseerrors that occur due to multipath, line-of-sight issues, and othersources, since cycle slippage due to the phase being modulo a numberscan be corrected.

In an alternate embodiment shown in FIG. 5, if link 36 is added, the INSalgorithm 14 can be modified to receive the error signal generated byKalman filter 33 and modify the IMDS 10 output at the computation source14. This can reduce offsets and biases that are common in inertialhardware 11, 12 and 13.

FIG. 5 shows another embodiment in which complementary filters may bedesigned for feedback implementation. In this embodiment, errors betweenthe RF system 20 and the IMDS system 10 are produced by block 31. Theseerrors are filtered by Kalman filter 33 to produce bias and driftcompensation to the inertial components 11, 12 and 13.

FIG. 6 shows another embodiment of the system 1 in which the fusion ofRF tracking and inertial tracking is performed in a tightly-coupledmanner. In tightly-coupled fusion, link 36 sends the error signal fromthe Kalman filter 33 to the inertial sensing processor 14 to modify theIMDS 10 output while interface 37 sends acceleration and velocity datato the RF algorithm 24. This embodiment has a feed-forward,complementary filter design, also known as a RF-aided IMDS design. Thisembodiment can be either position- or range-aided, as describedpreviously. A difference in this embodiment is the addition of interface37, which provides the RF algorithm 24 with acceleration and velocitydata from the inertial hardware 11, 12, and/or 13. Interface 37 allowsRF algorithm 24, which would preferably be a Kalman filter, toincorporate acceleration and velocity data into its model. Thisembodiment also provides a means to correct phase errors that occur dueto multipath, line-of-sight issues, and other sources, since cycleslippage due to the phase being modulo a numbers, can be corrected.

An additional use for the accelerometers 12 is as a power-saving device.In this mode of operation, the accelerometer is monitored for periods ofno acceleration (hence no velocity or positional changes). During theseperiods, the RF positioning system, especially the RF transmitters, canbe put into a low or no power state. When movement resumes, which wouldcause an instantaneous acceleration to be measured, the RF transmitterscould be powered up to resume RF tracking. Since the fusion algorithmprocessor 30 mediates this process, it would be able to keep track ofthe last computed position and orientation 40, and once acceleration isdetected, apply corrections to the position and orientation based on theIMDS subsystem 10 measurements until the RF tracking system 20 comesback on line.

Depending on total system tracking requirements, including accuracy,cost limitations, or other constraints, one or more components of theinertial/magnetic devices subsystem 10 (IMDS) may or may not be present.Multiple units of each device 11, 12, and/or 13 may be used to sensevarious directional components. In a minimal embodiment, only oneaccelerometer 12 may be used to provide positional corrections overshort periods of time. Also, while the fusion algorithm processor 30 isexpected to run a Kalman filter, other methods for integrating thedisparate measurements may be used.

FIGS. 7a and 7b show a method 700 of tracking an object having aninertial sensor and capable of transmitting an RF signal. In step 710 ofone embodiment, shown in FIG. 7 a, each one of at least three antennaereceives an RF signal transmitted from an object to be tracked. In step720 the antennae receive an inertial signal from an inertial sensorintegrated into or fixed onto the object. In step 730 the systemprocesses the RF signal and the inertial signal to determine theposition of the object.

In another embodiment of the method, shown FIG. 7b , the method 700 mayalso comprise the step 725 of merging the received RF signal with thereceived inertial signal using a Kalman or similar filter. In otherembodiments of the method 700, one or more inertial sensors may be used,including combinations of gyroscopes, accelerometers, and magneticsensors. Also, the processing step 730 may include applying a fusingalgorithm to the received RF signal and the received inertial signal.The method 700 may be used to determine the position of an object in twoor three dimensions as explained above regarding the system.Additionally, the processing step 730 may be broken into a first step ofpre-processing the received RF signal and a second step of processingthe inertial signal. The method 700 may also embody variations andcombinations of each embodiment described above.

Aspects of the position tracking system 1 and method 700 for using radiosignals and inertial sensing can be executed on various computingplatforms and/or using various programming languages. Program aspects ofthe technology may be thought of as “products” or “articles ofmanufacture” typically in the form of executable code and/or associateddata that is carried on or embodied in a type of machine readablemedium. “Storage” type media include any or all of the memory of thecomputers, processors or the like, or associated modules thereof, suchas various semiconductor memories, tape drives, disk drives and thelike, which may provide storage at any time for the softwareprogramming. All or portions of the software may at times becommunicated through the Internet or various other telecommunicationnetworks. Such communications, for example, may enable loading of thesoftware from one computer or processor into another computer orprocessor. Thus, another type of media that may bear the softwareelements includes optical, electrical and electromagnetic waves, such asused across physical interfaces between local devices, through wired andoptical landline networks and over various air-links. The physicalelements that carry such waves, such as wired or wireless links, opticallinks or the like, also may be considered as media bearing the software.As used herein, unless restricted to tangible “storage” media, termssuch as computer or machine “readable medium” refer to any medium thatparticipates in providing instructions to a processor for execution.

Hence, a machine readable medium may take many forms, including but notlimited to, a tangible storage medium, a carrier wave medium or physicaltransmission medium. Non-volatile storage media include, for example,optical or magnetic disks, such as any of the storage devices in anycomputer(s) or the like, such as may be used to implement the dataaggregator, the customer communication system, etc. shown in thedrawings. Volatile storage media include dynamic memory, such as mainmemory of such a computer platform. Tangible transmission media includecoaxial cables; copper wire and fiber optics, including the wires thatcomprise a bus within a computer system. Carrier-wave transmission mediacan take the form of electric or electromagnetic signals, or acoustic orlight waves such as those generated during radio frequency (RF) andinfrared (IR) data communications. Common forms of computer-readablemedia therefore include for example: a floppy disk, a flexible disk,hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD orDVD-ROM, any other optical medium, punch cards paper tape, any otherphysical storage medium with patterns of holes, a RAM, a PROM and EPROM,a FLASH-EPROM, any other memory chip or cartridge, a carrier wavetransporting data or instructions, cables or links transporting such acarrier wave, or any other medium from which a computer can readprogramming code and/or data. Many of these forms of computer readablemedia may be involved in carrying one or more sequences of one or moreinstructions to a processor for execution.

Those skilled in the art will recognize that the present teachings areamenable to a variety of modifications and/or enhancements.

All the elements of all the Figures having the same reference numbershave the same or similar functions.

The object or wireless device being tracked is referred to as trackedobject 3.

FIG. 8 shows one embodiment of the RF tracking system 20. In thisembodiment, tracked object 3 includes transmitter section 50 having theRF transmission electronics and at least one (mobile) RF transmitterantenna 22. More than one RF transmitter antennae 22 allows for theposition of each transmitting antenna 22 to be determined. If thepositions of the RF transmitter antennae 22 on the tracked object 3 areknown, then the relative positions will indicate an orientation anglearound an axis of the tracked object 3. Using several RF transmitterantennae 22 would provide orientation angles around several axes.

This embodiment also includes multiple (base) RF receiver antennae 21that are spaced apart from each other at various locations but are notlocated on the tracked object 3. These may be all located to a commonbase 120-1 or be located on several different bases 120-1, 120-2, 120-3.These bases 120-1, 120-2, 120-3 may be located apart from each other.

The bases 120-1, 120-2, 12-3 are required to communicate amongthemselves. These may be connected by wired communications, such asbetween base 120-1 and 120-2. They may also be connected by wirelesscommunications, such as bases 120-1 and 120-3.

The steps of processing of the signals from the RF receiver antennae 21may be performed at one base, or any number of processing steps may beperformed at any of the other bases.

The RF receiver antennae 21 is connected to the receiver section 60,which includes CDMA demodulators 110 and the PN Sequence device 115.

The CDMA demodulators 110 communicate with the tracking processor 24.The tracking processor 24 provides output to the position andorientation device 121.

In this embodiment, the receiver section 60, tracking processor 24 andposition and orientation processor 121 are not on the tracked object 3.These may be located remote from the tracked object, at a fixed base120. This embodiment is designed to receive a signal transmitted bytracked object 3 at the base 120, and to calculate the position andorientation of tracked object 3 at the base 120. Therefore, the trackedobject 3 will not know its position and orientation. This information inthis embodiment is only at the base 120.

Referring now to FIG. 9, the tracked object 3 has an inertial/magneticdetection system (IMDS) 10 which uses inertia and magnetic sensors 11-13to calculate its position and orientation. However, these calculationsbecome less accurate over time and need to be reset with correctinformation from time to time.

An alternative embodiment of the current invention is shown in FIG. 10in which the transmitter and receiver are reversed. In this embodiment,a plurality of (base) RF transmitter antennae 21 are spaced from eachother and may be located on the same base 120-1, or located on more thanone base 120-1, 120-2, 120-3. The bases 120-1, 120-2 and 12-3 must beable to communicate with each other by wired or wireless communication.Bases 120-1 and 120-2 communicate by a direct wired communication link.However, bases 120-1 and 120-3 communicate with a wireless communicationlink.

A transmitter section 50 is connected to each RF transmitter antenna21-1, (and optionally 22-2, 22-3) and causes them to transmit an RFsignal.

The tracked object 3 has at least one (mobile) RF receiver antenna 21that receives the RF signals. It can differentiate between the signalsreceived from different RF transmitting antennae. The received signalsare passed to a receiver section 60 having CDMA demodulators 110. TheCDMA demodulators 110 receive the output of the PN signal sequencedevice 115 to process the signals.

The output of the CDMA demodulators 110 is provided to the trackingprocessor 24 that runs an RF algorithm that determines distances betweenthe mobile antenna 21 and each of the base antennae 22 based upon thereceived RF signals.

The output of the tracking processor 24 is then provided to the positionand orientation device 121 that calculates the positions andorientations of the tracked object 3.

Turning now to FIG. 11, all the elements shown in this figure, exceptfor the RF transmitter antennae 22 (and any required transmittingelements), are attached to the tracked object 3. This allows positionand orientation calculations to be performed on-board the tracked object3 from the received RF signals.

The tracked object 3 also includes an IMDS 10 which determines positionand orientation by sensing inertia and magnetic field orientation. IMDS10 monitors the inertia/magnetic field changes of the tracked wirelessdevice 3. The information from the IMDS 10 can create the location andorientation of the tracked wireless device 3. However, the IMDS system10 has inherent errors in its determinations of inertia. These errorsaccumulate for each determination. However, they are accurate for shortperiods of time.

The output of the RF tracking system 20 and the output of the IMDS 10are fed to fusion algorithm processor 30. The fusion algorithm processor30 uses the output from these devices to update the position andorientation of the tracked object 3. This embodiment employs a fusionalgorithm processor 30 running a fusion algorithm.

The fusion algorithm device 30 receives the location and orientationfrom both the IMDS 10 and the RF tracking system 20 and uses one or boththe inputs to determine position and orientation.

Alternative embodiments of the fusion algorithm processor 30 are shownin FIGS. 3-6, and are described earlier in the specification. These showand describe the structure used to merge the output of the IMDS 10 andRF tracking system 20. In the embodiment of FIG. 11, all the elementsshown in FIGS. 3-6 are located on the tracked object 3, except for theRF transmitter antennae 22 and the transmitter section 50 of the RFpositioning system 23. In this case, the system may use a combination ofthe output of the RF tracking system 20 and IMDS 10 during normaloperation. However, when the RF signal is weak, corrupted or missing,the system can use the IMDS 10 for tracking. Fusion algorithm processor30 employs smoothing techniques to reduce tracking error.

The system in which position and orientation calculations are made atthe base 120, may also be modified into an alternative embodimentcapable of transmitting the calculated position and orientation oftracked object 3 from the base 120 back to the tracked object 3, so thetracked object 3 may know of its position and orientation. This wouldallow it to have previous location and orientation to use incalculations when the RF signal is corrupted or lost. However, thisembodiment would require an additional transmitter in the base 120 and areceiver in the tracked object 3 and add to the cost of producing thesystem.

While the foregoing has described what are considered to be the bestmode and/or other examples, it is understood that various modificationsmay be made therein and that the subject matter disclosed herein may beimplemented in various forms and examples, and that the teachings may beapplied in numerous applications, only some of which have been describedherein. It is intended by the following claims to claim any and allapplications, modifications and variations that fall within the truescope of the present teachings.

What is claimed is:
 1. A system for tracking a position of a trackedobject, the system comprising: an inertial and magnetic detectionsubsystem (IMDS) attached to the tracked object, configured to determineposition and orientation information of the tracked object by monitoringinertia and magnetic orientation over time; an RF tracking systemcomprising: at least one mobile antenna on the tracked object, and atleast three base antennae spaced apart from each other, wherein the RFtracking system is adapted to calculate a distance between each of theat least one mobile antenna and each of the at least three baseantennae, and calculate position and orientation of the tracked objectfrom the calculated distances; and a fusion algorithm processor adaptedto receive the position and orientation information from the IMDS 10,and from the RF tracking system, and merge them into a correctedposition and orientation of the tracked object.
 2. The system of claim1, wherein the at least three base antennae may be located at more thanone base, that can communicate with each other by one of wired andwireless communication.
 3. The system of claim 1, wherein the IMDScomprises one of the group consisting of a gyroscope, an accelerometer,and a magnetic sensor.
 4. The system of claim 1, wherein the fusionalgorithm processor comprises a Kalman filter configured to fuse theposition and orientation information of the tracked object from the IMDSand from the RF tracking system.
 5. The system of claim 4, wherein theKalman filter communicates feedback to the data processor for aligningthe position and orientation of the IMDS with that of the RF trackingsystem.
 6. The system of claim 5, wherein the position and orientationinformation from the RF tracking system is loosely coupled with that ofthe IMDS.
 7. The system of claim 5, wherein the position and orientationinformation from the RF tracking system is tightly coupled with that ofthe IMDS.
 8. The system of claim 1, wherein the fusion algorithmprocessor is configured to determine an orientation of the trackedobject from the output of the IMDS.
 9. The system of claim 1, whereinthe RF tracking system comprises: a transmitter section coupled to eachof the base antennae, adapted to cause the base antennae to transmit aradio signal; and a receiver section 60 attached to the at least onemobile antenna, configured to receive and demodulate the signals sensedby the at least one mobile antenna. a tracking processor adapted todetermine distances between the at least one mobile antenna and each ofthe base antennae; and a position and orientation device to determinethe location of the mobile antenna, and the orientation of the trackedobject, if more than one mobile antenna is tracked.
 10. The system ofclaim 1, wherein the RF tracking system comprises: a transmitter sectioncoupled to the mobile antennae, adapted to cause the mobile antenna totransmit a radio signal; and a receiver section attached to each of thethree base antennae, configured to receive and demodulate the signalssensed by each of the base antennae; a tracking processor adapted todetermine distances between the at least one mobile antenna and each ofthe base antennae; and a position and orientation device adapted todetermine a location of the mobile antenna and the tracked object, theposition and orientation device also determines an orientation of thetracked object if more than one mobile antenna is tracked.
 11. Thesystem of claim 1, wherein the IMDS is configured to provide output onlywhen the IMDS detects motion.
 12. The system of claim 1, wherein thefusion algorithm processor is configured to calculate a position andorientation of the tracked object, and combine the output of the IMDSwith the calculated position and orientation to produce a weightedposition of the tracked object.
 13. The system of claim 1, wherein theRF tracking system is configured to measure timing data from the radiosignal, calculate a position of the tracked object using the timingdata, and the fusion algorithm processor combines the output of the IMDSwith the calculated position to produce a weighted position of thetracked object.
 14. A system for tracking a position of a trackedobject, the system comprising: an inertial and magnetic detectionsubsystem (IMDS) attached to the tracked object, configured to determineposition and orientation information of the tracked object by monitoringinertia and magnetic orientation over time; an RF tracking systemcomprising: at least one mobile antenna on the tracked object, and atleast three base antennae spaced apart from each other, wherein the RFtracking system is adapted to calculate a distance between each of theat least one mobile antenna and each of the at least three baseantennae, and calculate position and orientation of the tracked objectfrom the calculated distances; and a fusion algorithm processor adaptedto receive the position and orientation information from the IMDS, andfrom the RF tracking system, determine a difference between them, filterthis difference with a Kalman filter and employ the filtered output ofthe Kalman filter to adjust the position and orientation determined bythe IMDS into a corrected position and orientation of the trackedobject.
 15. The system of claim 14, wherein the filtered output of theKalman filter is subtracted from the position and orientation calculatedby the IMDS in a feed-forward design.
 16. The system of claim 14,wherein the filtered output of the Kalman filter is fed backward to theIMDS to update its position and orientation so that it will produce moreaccurate position and orientation determinations of the tracked objectin a feedback design.
 17. A method for tracking a position of a trackedobject, the system comprising: transmitting a radiofrequency (RF) signalbetween each of the at least one mobile antenna and the at least threebase antennae; calculating a distance between each of the at least onemobile antenna and at least three base antennae from the transmitted RFsignals; determining a position and orientation of the tracked objectfrom the calculated distances; monitoring inertia of the tracked objectover time employing an inertial/magnetic detection system (IMDS);calculating position and orientation of the tracked object from themonitored inertia; and using a Kalman filter to merge the position andorientation calculated from the transmitted RF signal and thatcalculated from the monitored inertia to result in a more accurateposition and orientation of the tracked object.
 18. The method of claim17, further comprising the step of weighting the position calculatedfrom the transmitted RF signals, and combining the weighted positionwith the position calculated by monitoring the inertia to produce theposition of the tracked object.
 19. The method of claim 17 wherein thestep of calculating a distance comprises: calculating a distance betweeneach of the at least one mobile antenna and at least three base antennaeusing phase differences between pairs of received RF signals.
 20. Themethod of claim 17 wherein the step of calculating a distance comprises:calculating a distance between each of the at least one mobile antennaand at least three base antennae using differences between the time offlight of pairs of received RF signals.